EP2389563B1 - Verfahren zur magnetischen kontaktlosen messung von winkelpositionen - Google Patents

Verfahren zur magnetischen kontaktlosen messung von winkelpositionen Download PDF

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Publication number
EP2389563B1
EP2389563B1 EP09703001.9A EP09703001A EP2389563B1 EP 2389563 B1 EP2389563 B1 EP 2389563B1 EP 09703001 A EP09703001 A EP 09703001A EP 2389563 B1 EP2389563 B1 EP 2389563B1
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Prior art keywords
magnetic field
airgap
magnetic
field sensors
magnetic circuit
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English (en)
French (fr)
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EP2389563A2 (de
Inventor
Luca Ghislanzoni
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C-Sigma Srl
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields

Definitions

  • This invention describes a method, and various apparatuses implementing said method, for the contactless measurement of angular and linear positions by means of magnetic fields.
  • the disclosed method addresses position sensors of the kind defined in the preamble of claim 1.
  • EP 0 798 541 A1 discloses a magnetic position sensor of said kind, comprising a magnetic circuit composed of a permanent magnet and fixed and moving ferromagnetic parts, which are arranged as to generate two magnetic fields, B1 in one airgap of said magnetic circuit, and B2 in another airgap of said magnetic circuit, each one of which is a function of the moving part position with respect to the fixed part, and whose sum is substantially a constant value.
  • the position is then measured by computing the value of the relative differential measurement (B1-B2) / (B1+B2), greatly reducing sensitivity to variations in temperature.
  • the present invention addresses the problem of simplifying the calculation of the B1 /(B1+B2), and-or of the B2 / (B1+B2), ratio by means of a feedback loop arranged so as to control the common supply of two ratiometric magnetic field sensors, in such a way as to force to a constant value the sum of their respective output signals.
  • a typical approach to magnetic contactless measurement of position would consist in placing a magnetic field sensor in an airgap whose geometry changes as a function of the angular or linear displacement to be measured. Said change of geometry is arranged as to result in a corresponding change in the value of the magnetic field, B, as measured by said magnetic field sensor.
  • the change in the B field value can be obtained by either varying the length of the airgap, or its cross-section, or both, as a function of the displacement in position.
  • the straight implementation of such basic approaches is rather obvious, being just a matter to devise magnetic circuit configurations such that the value of B is a direct function of the relative position of the composing parts.
  • the simplest and most robust way to generate the required magnetic field would then make use of permanent magnets. Unfortunately things are not that straightforward, as the working point of low cost permanent magnets (PMs) is heavily affected by temperature, by naturally occurring demagnetization effects and variations in magnetic circuit's total reluctance.
  • PMs low cost permanent magnets
  • magnetoresitive bridge sensors are optimised for the measurement of relatively low B field values (few tens of mT), whereas Hall effect probes are better at the measurement of higher B field values (few hundreds mT).
  • B field values few tens of mT
  • Hall effect probes are better at the measurement of higher B field values (few hundreds mT).
  • Hall effect probes preference will be given to the use of Hall effect probes.
  • magnetorestive sensors becomes interesting, or that suitable magnetoresistive sensors might become commercially available, those skilled in the art can then easily imagine obvious way to replace said Hall probes with said magnetoresistive sensors.
  • Figure 1a schematically depicts an example of parallel configuration, and whose relevant cross-section is displayed in Figure 1b .
  • Vh ⁇ 1 Kh ⁇ 1 * Ib * F / R ⁇ 1 * S ⁇ 1
  • Vh ⁇ 2 Kh ⁇ 2 * Ib * F / R ⁇ 2 * S ⁇ 2
  • S1 and S2 are the effective areas (effective areas are computed taking into account also border effects) of the airgap cross-sections coplanar with the respective Hall probes.
  • Kh1/ Kh2 is explicitly maintained in the above expression, as Hall effect sensors of the same type (such as for example the KSY14 from Infineon) might differ in their sensitivity value.
  • allowance for individual calibrations shall be foreseen, for example to be carried out during manufacturing by adjusting the gain of a pre-amplifier, or by means of simple resistive networks selected on test.
  • dependence from sensitivity through the ratio Kh1/ Kh2 implies that a large part of the dependence on temperature of the sensitivity is also inherently compensated, the ratio of the two sensitivities being much less dependent on temperature than each of the sensitivities taken individually.
  • D is a ring of ferromagnetic material, whose thickness varies along its circumference.
  • the cross-section example depicted in figure 1b schematically represents the equivalent magnetic circuit when ring D is rotated to an angular position corresponding to its maximum thickness being located in airgap 2.
  • the present invention is not concerned with the particular shape of ring D, as several different shapes may exist, but that all yield the same form for the output function. Let us take the example of an application for which a triangle output signal is required, the corresponding R2 S2 / R1 S1 ratio can be obtained in several different ways:
  • the cross-section schematically represented in figure 1c represents instead an example of series configuration, whereby both airgaps see the same magnetic flux ⁇ (provided that the magnetic circuit is arranged as to reduce leakage flux to negligible values).
  • ring D is shaped as to concentrate ⁇ into a smaller area at the cross-section coplanar with sensor H2.
  • the ratio Vh1 / Vh2 is a function of geometric relationships only.
  • Figure 1d depicts one more example of series configuration, whereby ring D features a C shaped cross-section, whose parameters vary along the circumference as to obtain a S2 / S1 ratio with the desired dependency from angular position.
  • an output signal which is a linear function ⁇ is preferred, and which might take the form of a triangle function, such as the example of Figure 1f (for this example the signal conditioning electronics generate an output signal linearly varying between 1V and 3V), or a of a saw tooth function.
  • an output signal which is a sinus function of ⁇ could instead be preferred.
  • Each particular choice for the form of the output function has its own set of advantages and drawbacks, and which are already well known. Those skilled in the art would then choose the type of function that best suits a particular application.
  • FIG. 1a For the magnetic circuit configurations depicted in figures 1a to 1d , the only moving part is ring D, whereas the permanent magnet and the Hall probes are held in fixed positions. It is also possible to devise configurations characterised in that only the Hall probes are held in fixed positions, while the permanent magnet and the magnetic circuit are all part of a rotating assembly.
  • FIG 2a An example of said rotating assembly is shown in figure 2a , depicting a perspective view of a cross-section (non-magnetic spacers utilised to fix the two central rings to the shaft are omitted for clarity), and for which figure 2b schematically represents the same cross-section.
  • PM is an axially magnetised ring magnet, and D1a to D2b four rings of ferromagnetic material whose geometric parameters vary along the circumference.
  • the magnetic circuit is then closed via the central shaft, also made of ferromagnetic material (alternatively, the magnetic circuit may also be closed via a tube, made of ferromagnetic material, surrounding said shaft). Said rings of ferromagnetic material are then arranged as to obtain a " B1/B2 Ratio " function of the angular position ⁇ .
  • the present invention is not concerned with the particular shapes that rings D1a to D2b might take, as several different shapes may exist, but that all yield the same form for the output function.
  • Figure 2c depicts a configuration similar to the one of figure 2b , but where the two circular airgaps are located on opposite sides of the ring magnet.
  • the permanent magnet is instead a cylindrical bar placed along the central shaft.
  • Said bar may also be of a hollow type, surrounding a central shaft made of a material, which, in such case, would not be ferromagnetic.
  • Figures 2e and 2f depict configurations characterised in that the permanent magnet is magnetised along the radial direction.
  • FIG. 3a schematically represents an example of signal processing chain:
  • Figure 3b schematically depicts a signal processing chain suitable for magnetoresistive bridge type of sensors (MR1 and MR2).
  • the output signals, Vm1 and Vm2 are proportional to the supply voltage, rather than to the biasing current.
  • S would be a voltage source, used to parallel supply both magnetoresistive bridges.
  • Hall effect and magnetoresistive sensors have recently become commercially available that include said Signal Conditioning circuitry, SC, co-packaged with the sensor itself.
  • the integrated signal conditioning is usually arranged as to generate an output signal that is proportional to the supply voltage (examples are Infineon's TLE499x type of ratiometric linear Hall sensors), rather than to the supply current.
  • Said type of ratiometric linear Hall sensors would therefore need to be parallel supplied, in the same way as already indicated in Figure 3b for magnetoresistive bridge type of sensors.
  • the signal conditioning chains schematically represented in figures 3a and 3b both make use of a divider circuit to generate an output voltage proportional to the " B1/B2 Ratio ".
  • Said divider circuit can be implemented using any of the commercially available divider integrated circuits, or it can also be implemented by means of digital techniques, such as for example a conventional microcontroller implementing an analogue to digital conversion followed by the actual computation of the ratio between the two digital values so obtained. In case required by the application, the digital quotient obtained could then be converted back to the analog domain by means of digital to analog conversion.
  • the feedback loop depicted in figure 3d is instead better suited for magnetoresistive bridge sensors as well as for ratiometric linear Hall sensors, such as for example the already mentioned Infineon's TLE499x types.
  • Figure 3e depicts a signal conditioning and processing circuitry suitable for the Virtual Reference Airgap approach.
  • a signal proportional to the magnetic field measured in the Virtual Reference Airgap, Bvirtual is obtained by adding, and then dividing by two, the signals from the two magnetic field sensors, now located in the same airgap, at diametrically opposed angular positions.
  • the skill in the art would typically realise such (Vh1+Vh2)/2 function by means of a operational amplifiers in conventional adder configurations.
  • such a feedback loop built around the Virtual Reference Airgap is as effective as one built around a Reference Airgap , in both cases being the effects of said drifts substantially removed from the output signal. More precisely, said drifts are still present, but their effects have now been moved, through the action of the feedback loop, to the common supply of the two magnetic field probes.
  • sensor H3 will need to be supplied by the same supply current as H1 and H2, and in figure 3e it will hence appear connected in series to both them (or in parallel for magnetic field probes ratiometric to the supply voltage). If a second couple of diametrically opposed probes is instead used, then it can be supplied in the same way but on its own, independently from the supply of the first couple of probes.
  • R(B1) and R(B2) are two simple magnetoresistors (i.e. their resistances are functions of B) connected as a resistive divider.
  • the intrinsic feedback loop of figure 3e and which adjusted the common supply current to two serially connected Hall probes in order to hold at a constant value the sum of the output signals generated by said probes, the intrinsic feedback loop, obtained thanks to the supply voltage V being held constant, of the resistive divider configuration of figure 3f also results in the automatic adjustment of the common supply current, Is, in such a way that the sum of the output signals generated by said magnetoresistive probes is held at a constant value.
  • the practical problem encountered when using magnetoresitive type of sensors is typically represented by non-linearities in the function R(B).
  • said resistive divider configuration is mainly suitable for those applications whereby an extremely simple design, and thus low cost, can be traded off with somewhat lower accuracies (depending on the actual extent of said sensor's non-linearities).
  • Figure 4a represents a cross-section (to aid understanding, figure 4b depicts a perspective view of the same section) of an example of just such a configuration, and which is equivalent to that of figure 2a , the difference being that now the magnetic flux is closed through the external cylindrical wall, and that the Variable Airgap is obtained by varying the thickness of ring D1, rather than the width of D2a as it was the case in figure 2a .
  • Ring D2 serves the purpose to render as uniform as possible the magnetic field measured by H2 (or MR2) in the Reference Airgap . All the parts of this rotary magnetic circuit are fixed relatively to the central shaft (a non magnetic spacer fixing D2 to the shaft is omitted for clarity).
  • Figures 4c and 4d depict the same configuration as in figures 4a and 4b , but after suppressing the Reference Airgap , and relocating H2 to the Variable Airgap at an angular position diametrically opposed to H1.
  • the Reference Airgap is then replaced by the Virtual Reference A irgap , built by taking the mean value of the B values measured by H1 and H2.
  • figure 4c does not show the third magnetic field probe (or alternatively the second couple of probes) used to resolve the -180° to 0° and 0° to + 180° ambiguity.
  • Figures 5a and 5b describe a configuration convenient for those applications where it might be desirable to mount the magnetic field probes parallel to the central shaft, rather than perpendicularly to it.
  • H1 is located in the Reference Airgap
  • H2 is located in a Variable Airgap obtained by varying the radial width of ring D2 as a function of angular position.
  • the Virtual Reference Airgap version of this last configuration is depicted in figures 5c and 5d .
  • figure 5c does not show the third magnetic field probe (or alternatively the second couple of probes) used to resolve the -180° to 0° and 0° to + 180° ambiguity.
  • Figure 1e schematically represents such an approach, whereby the airgaps surrounding H1 and H2 are now of a constant geometry, while the task of varying the reluctance of the parallel branch crossed by flux ⁇ 2, is now delegated to a specialised variable airgap, V gap , whose geometry is designed to vary with position in such a way the " B1/B2 Ratio " corresponds to the desired function of position.
  • FIG. 5e depicts the cross section of a rotary magnetic circuit configuration optimised for just this type of measurements, while figure 5f illustrates its perspective view, which helps in understanding the radial paths followed by the magnetic flux generated by the permanent magnet.
  • the principle of operation is as follows:
  • the inventive step of this invention shall be understood as independent from any detailed choice of the geometry defining the form of the " B1/B2 Ratio " function, rather it consists in the more general idea of arranging the geometry of a magnetic circuit in such a way that the measurement of angular (or linear) displacements can be carried out by computing the ratio between magnetic field values measured at two different locations, making it hence largely independent from variations in temperature or from drifts in the working point of the permanent magnet.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Claims (1)

  1. Verfahren zur kontaktlosen Messung von Winkelverschiebungen durch Berechnen einer Funktion der Ausgangssignale von zwei Magnetfeldsensoren (H1, H2), die an zwei verschiedenen Stellen in einem kreisrunden Luftspalt einer rotierenden Magnetkreisbaugruppe positioniert sind, die aus ringförmigen Teilen (D2) zusammengesetzt ist, die einen mittleren Schaft umgeben und von einem äußeren zylindrischen Rohr umgeben sind, das dazu dient, einen äußeren Weg für den radialen Schluss des Magnetflusses bereitzustellen; wobei der Luftspalt sich zwischen den ringförmigen Teilen und dem äußeren zylindrischen Rohr befindet; wobei das Verfahren überdies den Schritt umfasst, zwei Magnetfeldsensoren zu verwenden, um an den zwei Stellen Werte Vh1 und Vh2 proportional zu den Magnetfeldern B1 und B2 zu messen, wobei die radiale Breite des Luftspalts entlang des Umfangs um eine variable Geometrie der ringförmigen Teile derart variiert, dass die Summe B1 + B2 unabhängig von der Winkelverschiebung ist; wobei die Geometrie des Magnetkreises angeordnet ist, die zu messende Verschiebung in eine entsprechende Variation von B1 und B2 umzuwandeln; wobei die rotierende Magnetkreisbaugruppe überdies einen ringförmigen Permanentmagneten (PM) umfasst, der mit dem Magnetkreis rotiert, und eine singnalverarbeitende elektronische Schaltung;
    wobei das Verfahren überdies den Schritt umfasst, die von den Magnetfeldsensoren erzeugten Signale zu verarbeiten, um die Summe Vh1 + Vh2 zu bilden; die Summe Vh1 + Vh2 wird dann in einer Rückkopplungsschleife verwendet, die angeordnet ist, den Vormagnetisierungsstrom oder die gemeinsame Versorgungsspannung der beiden Magnetfeldsensoren derart zu steuern, dass die Summe Vh1 + Vh2 bei einer Referenzspannung konstant bleibt und daraus folgend die Ausgangsspannung eines der Magnetfeldsensoren proportional zu B1/(B1 + B2) wird und der andere der Magnetfeldsensoren proportional zu B2/(B1 + B2) wird.
EP09703001.9A 2009-01-17 2009-01-17 Verfahren zur magnetischen kontaktlosen messung von winkelpositionen Not-in-force EP2389563B1 (de)

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PCT/IB2009/050167 WO2009090620A2 (en) 2008-01-18 2009-01-17 Method and apparatus for magnetic contactless measurement of angular and linear positions

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EP2389563B1 true EP2389563B1 (de) 2015-06-24

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US20170122779A1 (en) * 2014-03-28 2017-05-04 Moog India Technology Centre Privated Limited Angular position sensing device
DE102016106779A1 (de) * 2016-04-13 2017-10-19 Hella Kgaa Hueck & Co. Wegsensorvorrichtung
JP6501726B2 (ja) * 2016-04-19 2019-04-17 三菱電機株式会社 プローブ位置検査装置および半導体評価装置ならびにプローブ位置検査方法
CN109579682B (zh) * 2019-01-24 2024-04-26 中汽研（天津）汽车工程研究院有限公司 一种动力总成悬置动态多维度位移测试传感器

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US20040217758A1 (en) * 2003-05-02 2004-11-04 Leonard John R. Electromagnetic shaft position sensor and method

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FR2746912B1 (fr) * 1996-03-29 1998-06-05 Sagem Capteur magnetique de position
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WO2009090620A4 (en) 2010-10-07
WO2009090620A2 (en) 2009-07-23
EP2389563A2 (de) 2011-11-30
WO2009090620A3 (en) 2010-07-08

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